#ifndef _ALIGNACTION_
#define _ALIGNACTION_

#include <Aria.h>
#include "VisioneController.h"
#define S 750
#define M 750
class AlignAction : public ArAction{

public:
	AlignAction(VisioneController *visione,unsigned short lastPortDepth);
	~AlignAction();
	double elaborateBeta(double d, VisioneController *vision);
	double elaborateDistance(unsigned short profPorta,unsigned short profPalla);


private:
	ArActionDesired* fire(ArActionDesired currentDesired);
	bool aligned;
	bool *flag;
	unsigned short lastPortDepth;
	VisioneController *visione;
	ArActionDesired myDesired;
};

#endif
